REG: Vision System for Real-Time Control of a Robotic Manipulation

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The Coordinated Science Laboratory at the University of Illinois- Champaign will purchase equipment to support research in real- time vision based adaptive control of robotic manipulators. The equipment, consisting of a camera, vision system, and computer workstation, will be interfaced to a direct-drive manipulator for use in research projects aimed at improving the robustness of adaptive robot control. The project will seek to quantify, through theoretical and experimental investigation of adaptive robot control, various instability phenomena that may arise in real-time adaptive vision feedback as a result of external disturbances and unmodeled dynamics. Among the phenomena to be studied are slow parameter drift instabilities, fast adaptation instabilities, bursting, and more. The ultimate goal is to make adaptive control of robots highly robust and therefore practical from an engineering standpoint.*** //